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http://dx.doi.org/10.5391/JKIIS.2012.22.5.570

Development of a Moving Platform for a Upright Running Mobile Robot Based on an Inverted Pendulum Mechanism  

Lee, Se-Han (경남대학교 기계공학부)
Rhee, Sang-Yong (경남대학교 컴퓨터공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.5, 2012 , pp. 570-576 More about this Journal
Abstract
In this research a moving platform for a mobile robot which can run with upright posture is proposed. It is able to stand with standing arms and run uprightly based on an inverted pendulum mechanism. Conventional mobile robots generally may equip 4 wheels or 3 wheels including a caster and have good statistic stability. They need a steering mechanism to choose which way to go since they have a square or rectangular configuration with multiple wheels. When a mobile robot meets a sharply perpendicular and narrow crossroad, it may need a special steering scheme such as going forward and backward repeatedly or it sometimes cannot even pass through the crossroad because of its size. The proposed moving platform for a mobile robot changes to a upright posture which has a small planar area and is able to pass through the crossroad. We propose a moving platform for a mobile robot with a inverted pendulum mechanism and standing arms which can make the mobile robot upright.
Keywords
Upright running; Standing arm; Wheeled inverted pendulum;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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